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Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2020

Stockholders' Equity [Abstract]

Summary of Stock Option Activity

		Stock Options Outstanding
							Weighted
		Number					average
		of shares		Exercise price			exercise price
Balances, December 31, 2019		22,697		$	1.16 – 16.00		$	5.57
Options granted		2,852			2.45 – 20.9			7.20
Options exercised		(8,078)			1.16 – 15.98			5.44
Options canceled		(2,833)			1.16 – 16			7.82
Balances, December 31, 2020		14,638		$	1.16 – 20.90		$	5.53

Reconciliation of Outstanding and Exercisable Stock Options

			Options Outstanding							Options Exercisable
					Weighted average
			Number		remaining contractual		Weighted average			Number		Weighted average
	Exercise price		outstanding		life (Years)		exercise price			vested		exercise price
	$	0.00 – 3.67	4,254,183		5.45		$	2.53		3,253,267		$	2.51
	$	3.67 – 7.34	7,560,966		6.18		$	5.68		5,396,883		$	5.42
	$	7.34 – 11.01	2,591,433		5.78		$	9.05		2,191,433		$	8.95
	$	11.01 – 14.68	131,375		2.99		$	12.49		96,375		$	11.82
	$	14.68 – 18.35	500		0.13		$	15.98		500		$	15.98
	$	18.35 – 22.02	100,000		9.95		$	20.90		—		$	—
	$	22.02 – 25.69	—		—		$	—		—		$	—
	$	25.69 – 29.36	—		—		$	—		—		$	—
	$	29.36 – 33.03	—		—		$	—		—		$	—
	$	33.03 – 36.70	—		—		$	—		—		$	—
			14,638,457		5.90		$	5.53		10,938,458		$	5.32

Summary of Time-Based RSUs Activity

			Weighted average
	Number		grant date
	of shares		fair value
RSUs outstanding at December 31, 2019	1,086		$	6.12
RSUs granted	6,556			5.18
RSUs released	(1,000)			6.33
RSUs forfeited	(723)			4.40
Unvested RSUs outstanding at December 31, 2020	5,919		$	5.25

Summary of Performance-Based RSUs Activity

			Weighted average
	Number		grant date
	of shares		fair value
PSUs outstanding at December 31, 2019	138		$	2.63
PSUs granted	—			—
PSUs released	—			—
PSUs forfeited	(44)			2.63
Unvested PSUs outstanding at December 31, 2020	94		$	2.63

Schedule of Stock-Based Compensation Expense

	Years Ended December 31,
	2020			2019			2018
Cost of revenue	$	2,236		$	1,857		$	3,124
Research and development		7,061			7,699			10,076
Sales, general and administrative		8,236			6,845			9,953
Total stock-based compensation expense	$	17,533		$	16,401		$	23,153

Schedule of Fair Value of Employee Stock Options

		Years Ended December 31,
		2020			2019			2018
Expected term (years)			5.0 years			—			5.2 years
Expected volatility			70.7%			—			66.8%
Risk-free interest rate			0.3%			—			2.6%
Dividend yield			—			—			—

Schedule of Fair Value of Employee Stock Purchase Plan

		Years Ended December 31,
		2020			2019			2018
Expected term (years)			0.5 - 2.0			—			0.5 - 2.0
Expected volatility			57% - 71%			—			65% - 67%
Risk-free interest rate			0.1%-1.0%			—			1.3%-2.7%
Dividend yield			—			—			—

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